A theoretical part-mating model is proposed for automatically generating compliance control strategies for generic assembly operations in a systematic way. Based on the unique geometric relationship between two mating parts, 28 constraint configurations are identified to distinguish 17 part-mating types. Each constraint configuration is represented by combinations of three translational and three rotational motion components. After three constraint configurations (before, during, and after a desired mating operation) are identified, the sequence of constraints for this part-mating operation can be determined. From the constraint configurations obtained, a set of compliance control strategies based on the motion constraints described by the constraint configurations can be generated. On the basis of this principle, an algorithm for automatically generating compliance control strategies is developed. An algorithm for generating corrective actions is also developed. The generated active compliance control strategies can be used for robot compliance control.
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